CN111049452A - Rotor angular velocity and rotor position detection method and device - Google Patents
Rotor angular velocity and rotor position detection method and device Download PDFInfo
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- CN111049452A CN111049452A CN201811198539.7A CN201811198539A CN111049452A CN 111049452 A CN111049452 A CN 111049452A CN 201811198539 A CN201811198539 A CN 201811198539A CN 111049452 A CN111049452 A CN 111049452A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/09—Motor speed determination based on the current and/or voltage without using a tachogenerator or a physical encoder
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
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Abstract
The invention provides a rotor angular velocity and rotor position detection method, a rotor angular velocity and rotor position detection device and a computer readable storage medium. The rotor angular speed and rotor position detection method comprises the following steps: randomly generating a group of current sine wave period, current initial phase angle and current voltage amplitude; in a current sine wave period, injecting sine voltage to a d axis of the motor according to a sine wave signal rule, and recording first q axis current of at least two moments, wherein the initial phase angle of the sine voltage is a current initial phase angle, and the amplitude of the sine voltage is a current voltage amplitude; acquiring at least two second q-axis currents in the last sine wave period; calculating the rotor angular speed and the rotor position according to the at least two second q-axis currents; and returning to the step of randomly generating a group of current sine wave periods and current voltage amplitudes when the operation of one current sine wave period is finished. The invention reduces the noise of high-frequency current and has small calculation load.
Description
Technical Field
The invention relates to the field of motor control, in particular to a method for detecting rotor angular speed and rotor position, equipment for detecting rotor angular speed and rotor position and a computer readable storage medium.
Background
The permanent magnet synchronous motor has the characteristics of small volume, high efficiency, good reliability, strong adaptability to the environment and the like, so that the permanent magnet synchronous motor gradually replaces the traditional direct current driving mode, and is widely applied to various high-performance driving systems. High performance control of permanent magnet synchronous motors requires accurate rotor position and rotor angular velocity signals to achieve field orientation and velocity feedback. The traditional control system adopts a photoelectric encoder or a rotary transformer to realize the detection of the position and the angular speed of the rotor, but the mechanical sensor has the problems of installation, cable connection, maintenance and the like, thereby reducing the reliability of the system. Therefore, research and development of a reliable and low-cost sensorless control method is urgently needed.
The high frequency signal injection method is a sensorless control method which is more applied at present and is suitable for zero-speed and low-speed operation, and is proposed by professor Robert D.Lorenz et al in 1993. The method realizes the estimation of the position of the magnetic pole of the rotor by the excitation of the rotating vector and the demodulation of the current signal. The high-frequency signal injection method is a better method suitable for sensorless driving in low-speed and zero-speed operation. However, as shown in fig. 1, the conventional high frequency signal injection method injects a high frequency signal with a fixed frequency, so that the noise problem caused by the high frequency current causes that the method cannot be applied to some occasions with high noise requirement.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of the invention proposes a rotor angular velocity and rotor position detection method.
A second aspect of the present invention is to propose a rotor angular velocity and rotor position detection apparatus.
A third aspect of the present invention is to provide a computer-readable storage medium.
In view of this, according to a first aspect of the present invention, there is provided a rotor angular velocity and rotor position detection method, comprising: randomly generating a group of current sine wave period, current initial phase angle and current voltage amplitude; in a current sine wave period, injecting sine voltage to a d axis of the motor according to a sine wave signal rule, and recording first q axis current of at least two moments, wherein the initial phase angle of the sine voltage is a current initial phase angle, and the amplitude of the sine voltage is a current voltage amplitude; acquiring at least two second q-axis currents in the last sine wave period; calculating the rotor angular speed and the rotor position according to the at least two second q-axis currents; and returning to the step of randomly generating a group of current sine wave periods and current voltage amplitudes when the operation of one current sine wave period is finished.
The method for detecting the rotor angular speed and the rotor position provided by the invention realizes the detection of the rotor angular speed and the rotor position of the motor in a mode of injecting a random frequency sinusoidal voltage into a d axis of the motor and outputting a q axis current. On one hand, random sine wave frequency (the frequency and the period are reciprocal) is switched, so that the generated current cannot be always maintained at the same high frequency, namely the frequency of the current changes along with the sine wave frequency, and the noise of the high-frequency current is reduced; on the other hand, when the q-axis current is used for calculating the rotor angular speed and the rotor position, the calculation amount is small, the calculation load is small, and the feedback efficiency in the motor control process is improved. Particularly, the calculation load is small, the rotor angular speed and the rotor position can be rapidly acquired, so that the rotor angular speed and the rotor position can be timely and accurately tracked and detected in the motor control process, and a reliable and low-cost sensorless control method is realized.
Since all of the first q-axis currents in the current sine wave cycle are only available after the current sine wave cycle, the second q-axis current for the previous sine wave cycle is used in the calculation of the current sine wave cycle. It is understood that the first q-axis current and the second q-axis current are both q-axis currents, and are named differently to distinguish the current period from the previous period, and when a set of current sine wave periods and current voltage amplitudes are randomly generated again, the recorded first q-axis current becomes the second q-axis current, and the newly recorded q-axis current becomes the new first q-axis current.
In addition, the current starting phase angle may be 0 or not, that is, when a sinusoidal voltage is injected in one current sine wave period, the voltage of the starting point is not necessarily 0, as long as the finally injected sinusoidal voltage is a complete sine wave.
In addition, according to the method for detecting the angular speed and the position of the rotor in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in the above technical solution, preferably, the step of calculating the rotor angular velocity and the rotor position from the at least two second q-axis currents includes: obtaining a maximum second q-axis current and a minimum second q-axis current in the at least two second q-axis currents; calculating the difference between the maximum second q-axis current and the minimum second q-axis current as a current error; acquiring the angular speed of the rotor when the current error approaches zero; and (5) obtaining the position of the rotor by derivation of the angular speed of the rotor.
In the technical scheme, a process of calculating the rotor angular speed and the rotor position according to the second q-axis current is specifically defined. Through derivation, when the error of the rotor position tends to zero, the current error also tends to zero, so that the accuracy of the rotor angular speed obtained when the current error tends to zero is high, and further the rotor position with higher accuracy can be obtained, thereby calculating the rotor angular speed and the rotor position of the motor by utilizing the principle. The difference between the maximum second q-axis current and the minimum second q-axis current in the previous sine wave period is used as a current error, so that the change range of the q-axis current in the whole sine wave period can be reflected, and the calculation accuracy is improved.
In any of the above technical solutions, preferably, the step of obtaining the rotor angular velocity when the current error approaches zero includes: controlling the PI regulator to enable the current error to tend to zero; and acquiring the rotor angular speed output by the phase-locked loop when the current error approaches zero.
In this solution, how to obtain the rotor angular velocity is specifically defined. The phase-locked loop is a loop for locking a phase, belongs to a typical feedback control circuit, and can realize automatic tracking of an output signal frequency to an input signal frequency. A PI regulator (proportional integral controller) is a linear controller. The phase-locked loop enables the current error to tend to zero through the PI regulator, and obtains the rotor angular speed output at the moment.
In any of the above technical solutions, preferably, the operation of injecting the sinusoidal voltage to the d-axis of the motor according to the sine wave signal rule in one current sine wave cycle includes: starting a fixed frequency counter to count according to a counting period T from zero to obtain a counting value m; when the count value m is smaller than a count threshold value, injecting a sine voltage into a d axis of the motor, wherein the count threshold value is the ratio of the current sine wave period to the count period, and the sine voltage is equal to
Tn is the current sine wave period, and alpha n is the current starting phase angle.
In this solution, it is specifically defined how to inject a sinusoidal voltage. With the aid of a fixed-frequency counter, the counting can be carried out in a fixed counting period, i.e. starting from zero, a number of times is counted for each time duration corresponding to the counting period. The ratio of the current sine wave period to the count period, that is, the count threshold is equal to the number of count periods contained in one current sine wave period, and if 1 is added to the count threshold, the count number is the count number corresponding to one current sine wave period, for example, if the count threshold is 8, the voltage injection of one current sine wave period is correspondingly completed when the count value is sequentially counted from 0 to 8. When the count value is smaller than the count threshold (in the above example, the count value is 0 to 7), the current sine wave period is corresponded, the sine voltage is injected into the d axis of the motor, the positive line voltage value is calculated by substituting the count value m into the above formula, and other variables in the formula are kept unchanged in the same current sine wave period. Further, when the count value reaches the count threshold (in the above example, the count value reaches 8), it indicates that one current sine wave cycle has been run, the fixed frequency counter is cleared, and a new set of current sine wave cycle, current start phase angle, and current voltage amplitude is regenerated.
In any of the above solutions, preferably, the operation of recording the first q-axis current at least two time instants includes: the fixed frequency counter records the first q-axis current once every time it counts.
In the technical scheme, at least two first q-axis currents need to be recorded so as to meet subsequent calculation, the first q-axis currents are recorded once every other counting period, the q-axis currents can be obtained according to fixed frequency, namely the sampling frequency of the q-axis currents is kept consistent with the counting frequency, the requirement of sampling quantity is met, the reliability of a calculation result is guaranteed, operation is facilitated, and the running stability is improved.
In any of the above technical solutions, preferably, the operation of obtaining at least two second q-axis currents in the last sine wave cycle includes: and when the counting value is equal to the preset value, acquiring at least two second q-axis currents in the last sine wave period.
In the technical scheme, the second q-axis current is obtained when the counting value is equal to the preset value, namely the second q-axis current is obtained after the same time length (namely the product of the preset value and the counting period) is kept after the current sine wave period is changed, so that the obtaining time is clear, the calculation deviation is reduced, and the detection accuracy of the rotor angular speed and the rotor position is improved.
In any of the above technical solutions, preferably, the preset value is 1.
In the technical scheme, the preset value is further limited to be 1, namely after the current sine wave period is changed, the second q-axis current is obtained through a counting period, calculation can be performed when the current is stable after the current sine wave period is changed, and the calculation time can be close to the previous sine wave period as much as possible, so that the calculated angular speed and the calculated position of the rotor are guaranteed, the calculation deviation is reduced, the angular speed and the position of the rotor can be fed back timely, and the control precision of the motor is improved.
In any of the above technical solutions, preferably, before the operation of randomly generating a set of the current sine wave period, the current starting phase angle, and the current voltage amplitude, the method further includes: prestoring at least two groups of state numbers, sine wave periods, initial phase angles and voltage amplitudes, wherein the product of the sine wave periods and the voltage amplitudes is a fixed value; the operation of randomly generating a set of current sine wave period, current starting phase angle and current voltage amplitude comprises: generating a random state number; and searching the state number equal to the random state number, and acquiring the sine wave period, the initial phase angle and the voltage amplitude corresponding to the state number as the current sine wave period, the current initial phase angle and the current voltage amplitude respectively.
In the technical scheme, a plurality of groups of applicable sine wave periods, starting phase angles and voltage amplitudes are calculated in advance, the state numbers are associated one by one, accordingly, when a random current sine wave period needs to be generated in the motor control process, the associated sine wave period, starting phase angles and voltage amplitudes can be found correspondingly only by utilizing the random state number generated by the random signal generator, the calculation process is simplified, and the calculation efficiency is improved. Specifically, the product of the sine wave period and the voltage amplitude is a fixed value, namely the voltage amplitude is in direct proportion to the sine wave frequency, so that the q-axis current is still equal in different sine wave periods theoretically, and when the current sine wave period is changed, even if the time for recording the q-axis current has time difference, a calculation error cannot occur.
According to a second aspect of the present invention, there is provided a rotor angular velocity and rotor position detecting apparatus comprising: a memory configured to store executable instructions; the processor is configured to execute the stored instructions to implement the steps of the method according to any of the above technical solutions, so as to have all the technical effects of the method for detecting the angular velocity and the position of the rotor, which are not described herein again.
According to a third aspect of the present invention, there is provided a computer readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the method according to any of the above technical solutions, thereby providing all the technical effects of the method for detecting the angular velocity and the position of the rotor, which will not be described herein again.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 illustrates a waveform diagram of an injected fixed frequency sine wave in the related art;
FIG. 2 is a schematic flow chart diagram illustrating a rotor angular velocity and rotor position detection method according to a first embodiment of the present invention;
FIG. 3 illustrates a waveform of an injected random frequency sine wave in accordance with one embodiment of the present invention;
FIG. 4 illustrates a signal flow diagram of a motor control method of one embodiment of the present invention;
FIG. 5 is a schematic flow chart diagram illustrating a rotor angular velocity and rotor position detection method according to a second embodiment of the present invention;
FIG. 6 is a schematic flow chart diagram showing a rotor angular velocity and rotor position detecting method according to a third embodiment of the present invention;
FIG. 7 is a schematic flow chart diagram illustrating a rotor angular velocity and rotor position detection method according to a fourth embodiment of the present invention;
fig. 8 is a schematic flow chart showing a rotor angular velocity and rotor position detecting method of a fifth embodiment of the present invention;
fig. 9 shows a schematic block diagram of a rotor angular velocity and rotor position detection apparatus of an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Embodiments of the first aspect of the invention provide a rotor angular velocity and rotor position detection method.
Fig. 2 shows a schematic flow chart of a rotor angular velocity and rotor position detection method of the first embodiment of the present invention. As shown in fig. 2, the method includes:
s102, randomly generating a group of current sine wave period, current initial phase angle and current voltage amplitude;
s104, in a current sine wave period, injecting sine voltage to a d-axis of the motor according to a sine wave signal rule, and recording first q-axis current of at least two moments, wherein the initial phase angle of the sine voltage is a current initial phase angle, and the amplitude of the sine voltage is a current voltage amplitude;
s106, acquiring at least two second q-axis currents in the previous sine wave period;
s108, calculating the rotor angular speed and the rotor position according to the at least two second q-axis currents;
and S110, when one current sine wave period is finished, returning to the step of randomly generating a group of current sine wave periods and current voltage amplitudes.
The method for detecting the rotor angular speed and the rotor position provided by the invention realizes the detection of the rotor angular speed and the rotor position of the motor in a mode of injecting a random frequency sinusoidal voltage into a d axis of the motor and outputting a q axis current. On one hand, as shown in fig. 3, the random sine wave frequency (the frequency and the period are reciprocal) is switched, so that the generated current is not always maintained at the same high frequency, that is, the frequency of the current changes along with the sine wave frequency, thereby reducing the noise of the high-frequency current; on the other hand, when the q-axis current is used for calculating the rotor angular speed and the rotor position, the calculation amount is small, the calculation load is small, and the feedback efficiency in the motor control process is improved. Particularly, the calculation load is small, the rotor angular speed and the rotor position can be rapidly acquired, so that the rotor angular speed and the rotor position can be timely and accurately tracked and detected in the motor control process, and a reliable and low-cost sensorless control method is realized.
Since all of the first q-axis currents in the current sine wave cycle are only available after the current sine wave cycle, the second q-axis current for the previous sine wave cycle is used in the calculation of the current sine wave cycle. It is understood that the first q-axis current and the second q-axis current are both q-axis currents, and are named differently to distinguish the current period from the previous period, and when a set of current sine wave periods and current voltage amplitudes are randomly generated again, the recorded first q-axis current becomes the second q-axis current, and the newly recorded q-axis current becomes the new first q-axis current.
In addition, the current starting phase angle may be 0 or not, that is, when a sinusoidal voltage is injected in one current sine wave period, the voltage of the starting point is not necessarily 0, as long as the finally injected sinusoidal voltage is a complete sine wave.
It should be noted that the method for detecting the angular speed and the position of the rotor provided by the present invention does not start or end in the flow chart, because as shown in fig. 4, the method belongs to a part of a sensorless motor control method, and specifically corresponds to two parts, namely "high frequency signal injection" and "speed and position calculator", so that the detection of the angular speed and the position of the rotor is kept as long as the motor keeps running. Specifically, the sine wave period is a small period, that is, the injected sine wave is a high-frequency sine wave, thereby implementing a high-frequency signal injection method. The command generating section in fig. 4 generates a speed command including a target speed Vref(specifically, the rotating speed) to control the output rotating speed of the motor; verrFor speed error, the detected current rotor angular speed ω can be usedcConverting into the current rotor rotating speed, and calculating the rotating speed V corresponding to the current rotor rotating speed and the speed instructionrefIs the difference value of (1), i.e. the velocity error Verr；TasrFor torque command, for controlling the motor to reduce the speed error VerrSo as to correct the current actual rotation speed to conform to the speed command, and to VrefClosing; u is a motor driving voltage instruction; motor feedback IfdbIn order to sample current, including low-frequency current output when the motor operates and high-frequency current generated on a q-axis by injecting high-frequency sinusoidal voltage to the d-axis (i.e. q-axis current in the invention), the q-axis current can be obtained by filtering the low-frequency current in the sampled current, and then rotor angular velocity ω is calculatedcAnd a rotor position theta. For the calculation, since the rotor angular velocity and the rotor position of the motor are low-frequency signals, the high-frequency q-axis current needs to be demodulated after being received to obtain the low-frequency rotor angular velocity and the low-frequency rotor position, and the calculation is demodulation. In addition, the reason why the voltage is injected into the d axis to output the q axis current is that the voltage injected into the d axis generates a counter electromotive force with a phase difference of 90 degrees, thereby generating an additional induced current on the q axis.
Fig. 5 shows a schematic flow chart of a rotor angular velocity and rotor position detection method according to a second embodiment of the present invention. As shown in fig. 5, the method includes:
s202, randomly generating a group of current sine wave period, current initial phase angle and current voltage amplitude;
s204, in a current sine wave period, injecting sine voltage to a d-axis of the motor according to a sine wave signal rule, and recording first q-axis current of at least two moments, wherein the initial phase angle of the sine voltage is a current initial phase angle, and the amplitude of the sine voltage is a current voltage amplitude;
s206, acquiring at least two second q-axis currents in the last sine wave period;
s208, acquiring a maximum second q-axis current and a minimum second q-axis current in the at least two second q-axis currents;
s210, calculating the difference between the maximum second q-axis current and the minimum second q-axis current as a current error;
s212, acquiring the angular speed of the rotor when the current error approaches zero;
s214, obtaining the rotor position by derivation of the rotor angular speed;
s216, when a current sine wave period is finished, the step of randomly generating a group of current sine wave periods and current voltage amplitudes is returned.
In this embodiment, the process of calculating the rotor angular velocity and the rotor position from the second q-axis current is specifically defined. Through derivation, when the error of the rotor position tends to zero, the current error also tends to zero, so that the accuracy of the rotor angular speed obtained when the current error tends to zero is high, and further the rotor position with higher accuracy can be obtained, thereby calculating the rotor angular speed and the rotor position of the motor by utilizing the principle. Here, the maximum second q-axis current in the previous sine wave period is set
And a minimum second q-axis current
The difference is used as the current error
Namely, it is
The q-axis current change range in the whole sine wave period can be reflected, and the calculation accuracy is improved.
Optionally, in S204, all data outputted can be recorded when the first q-axis current is recorded, and when the current error is calculated in the next sine wave period, the recorded data are obtained in S206, and the maximum value and the minimum value are obtained in S208 by comparing; specifically, when a first q-axis current is obtained, the maximum q-axis current and the minimum q-axis current are both recorded as the q-axis current, when a second q-axis current is obtained, if the value of the current is greater than the first q-axis current, the maximum q-axis current is updated to be the second q-axis current, otherwise, the minimum q-axis current is updated to be the second q-axis current, and the comparison and the updating are continued, and at this time, S206 and S208 can be combined into one step.
Fig. 6 shows a schematic flow chart of a rotor angular velocity and rotor position detection method of a third embodiment of the present invention. As shown in fig. 6, the method includes:
s302, randomly generating a group of current sine wave period, current initial phase angle and current voltage amplitude;
s304, in a current sine wave period, injecting sine voltage to a d-axis of the motor according to a sine wave signal rule, and recording first q-axis current of at least two moments, wherein the initial phase angle of the sine voltage is a current initial phase angle, and the amplitude of the sine voltage is a current voltage amplitude;
s306, acquiring at least two second q-axis currents in the previous sine wave period;
s308, acquiring a maximum second q-axis current and a minimum second q-axis current in the at least two second q-axis currents;
s310, calculating the difference between the maximum second q-axis current and the minimum second q-axis current to be used as a current error;
s312, controlling the PI regulator to enable the current error to tend to zero;
s314, acquiring the rotor angular speed output by the phase-locked loop when the current error approaches zero;
s316, obtaining the rotor position by derivation of the rotor angular speed;
and S318, when the current sine wave cycle is finished, returning to the step of randomly generating a group of current sine wave cycles and current voltage amplitudes.
In this embodiment, how the rotor angular velocity is obtained is specifically defined. The phase-locked loop is a loop for locking a phase, belongs to a typical feedback control circuit, and can realize automatic tracking of an output signal frequency to an input signal frequency. The PI regulator is a linear controller. The phase-locked loop enables the current error to tend to zero through the PI regulator, and obtains the rotor angular speed output at the moment.
Fig. 7 shows a schematic flow chart of a rotor angular velocity and rotor position detection method of a fourth embodiment of the present invention. As shown in fig. 7, the method includes:
s402, randomly generating a group of current sine wave period, current initial phase angle and current voltage amplitude;
s404, starting a fixed frequency counter to count according to a counting period T from zero to obtain a counting value m;
s406, when the count value changes, judging whether the count value m is smaller than a count threshold value, if so, turning to S408, and if not, returning to S402;
s408, injecting a sine voltage into a d axis of the motor, and recording a first q axis current for one time, wherein the counting threshold is the ratio of the current sine wave period to the counting period, and the sine voltage is
Tn is the current sine wave period, and alpha n is the current initial phase angle;
s410, when the count value is equal to a preset value, at least two second q-axis currents in the last sine wave period are obtained;
s412, acquiring a maximum second q-axis current and a minimum second q-axis current in the at least two second q-axis currents;
s414, calculating the difference between the maximum second q-axis current and the minimum second q-axis current as a current error;
s416, controlling the PI regulator to enable the current error to approach zero;
s418, acquiring the rotor angular speed output by the phase-locked loop when the current error approaches zero;
s420, the angular velocity of the rotor is derived to obtain the rotor position, and the process returns to S406.
In this embodiment, it is specifically defined how to inject a sinusoidal voltage. With the aid of a fixed-frequency counter, the counting can be carried out in a fixed counting period, i.e. starting from zero, a number of times is counted for each time duration corresponding to the counting period. The ratio of the current sine wave period to the count period, that is, the count threshold is equal to the number of count periods contained in one current sine wave period, and if 1 is added to the count threshold, the count number is the count number corresponding to one current sine wave period, for example, if the count threshold is 8, the voltage injection of one current sine wave period is correspondingly completed when the count value is sequentially counted from 0 to 8. When the count value is smaller than the count threshold (in the above example, the count value is 0 to 7), the current sine wave period is corresponded, the sine voltage is injected into the d axis of the motor, the positive line voltage value is calculated by substituting the count value m into the above formula, and other variables in the formula are kept unchanged in the same current sine wave period. Further, when the count value reaches the count threshold (in the above example, the count value reaches 8), it indicates that one current sine wave cycle has been run, the fixed frequency counter is cleared, and a new set of current sine wave cycle, current start phase angle, and current voltage amplitude is regenerated.
Furthermore, at least two first q-axis currents need to be recorded to meet subsequent calculation, the first q-axis currents are recorded once every other counting period, the q-axis currents can be obtained according to fixed frequency, namely the sampling frequency of the q-axis currents is kept consistent with the counting frequency, the requirement of sampling number is met, the reliability of a calculation result is guaranteed, operation is facilitated, and the running stability is improved.
In addition, the second q-axis current is obtained when the counting value is equal to the preset value, namely the second q-axis current is obtained after the same time length (namely the product of the preset value and the counting period) is kept after the current sine wave period is changed, so that the obtaining time is clear, the calculation deviation is reduced, and the detection accuracy of the rotor angular speed and the rotor position is improved.
In one embodiment of the present invention, preferably, the preset value is 1.
In this embodiment, the preset value is further limited to 1, that is, after the current sine wave period is changed, the second q-axis current is obtained through a counting period, so that the calculation can be performed again when the current is stabilized after the current sine wave period is changed, and the calculation time can be as close as possible to the previous sine wave period, thereby ensuring the timeliness of the calculated rotor angular velocity and the rotor position, reducing the calculation deviation, facilitating the feedback of the rotor angular velocity and the rotor position in time, and improving the motor control accuracy.
Fig. 8 shows a schematic flow chart of a rotor angular velocity and rotor position detection method of a fifth embodiment of the present invention. As shown in fig. 8, the method includes:
s502, at least two groups of state numbers, sine wave periods, initial phase angles and voltage amplitudes are prestored, and the product of the sine wave periods and the voltage amplitudes is a fixed value;
s504, generating a random state number;
s506, searching a state number equal to the random state number, and acquiring a sine wave period, an initial phase angle and a voltage amplitude corresponding to the state number as a current sine wave period, a current initial phase angle and a current voltage amplitude respectively;
s508, starting a fixed frequency counter to count according to a counting period T from zero to obtain a counting value m;
s510, when the count value changes, judging whether the count value m is smaller than a count threshold value, if so, turning to S512, and if not, returning to S504;
s512, injecting sinusoidal voltage into a d axis of the motor, and recording a first q axis current for a time, wherein the counting threshold is the ratio of the current sine wave period to the counting period, and the sinusoidal voltage is equal to
Tn is the current sine wave period, and alpha n is the current initial phase angle;
s514, when the counting value is equal to the preset value, at least two second q-axis currents in the last sine wave period are obtained;
s516, acquiring a maximum second q-axis current and a minimum second q-axis current in at least two second q-axis currents;
s518, calculating the difference between the maximum second q-axis current and the minimum second q-axis current as a current error;
s520, controlling the PI regulator to enable the current error to tend to zero;
s522, acquiring the rotor angular speed output by the phase-locked loop when the current error tends to zero;
at S524, the angular velocity of the rotor is derived to obtain the rotor position, and the process returns to S510.
In the embodiment, a plurality of groups of applicable sine wave periods, starting phase angles and voltage amplitudes are calculated in advance, the state numbers are associated one by one, accordingly, when a random current sine wave period needs to be generated in the motor control process, the associated sine wave period, starting phase angles and voltage amplitudes can be found correspondingly only by using the random state number generated by the random signal generator, the calculation process is simplified, and the calculation efficiency is improved. Specifically, the product of the sine wave period and the voltage amplitude is a fixed value, namely the voltage amplitude is in direct proportion to the sine wave frequency, so that the q-axis current is still equal in different sine wave periods theoretically, and when the current sine wave period is changed, even if the time for recording the q-axis current has time difference, a calculation error cannot occur. Optionally, the state numbers are sequentially 0, 1, 2, … …, and N, and correspond to sine wave periods T0, T1, T2, … …, TN, initial phase angles α 0, α 1, α 2, … …, α N, and voltage amplitudes V0, V1, V2, … …, and VN, respectively.
As shown in fig. 9, an embodiment of a second aspect of the present invention provides a rotor angular velocity and rotor position detecting apparatus 10 including: a memory 102 configured to store executable instructions; the processor 104 is configured to execute the stored instructions to implement the steps of the method according to any of the above embodiments, so as to achieve all the technical effects of the method for detecting the angular velocity and the position of the rotor, which are not described herein again.
In particular, the memory 102 may include mass storage for data or instructions. By way of example, and not limitation, memory 102 may include a Hard Disk Drive (HDD), a floppy Disk Drive, flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 102 may include removable or non-removable (or fixed) media, where appropriate. The memory 102 may be internal or external to the integrated gateway disaster recovery device, where appropriate. In a particular embodiment, the memory 102 is a non-volatile solid-state memory. In particular embodiments, memory 102 includes Read Only Memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or a combination of two or more of these.
The processor 104 may include a Central Processing Unit (CPU), or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits that may be configured to implement embodiments of the present invention.
An embodiment of the third aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when being executed by a processor, implements the steps of the method according to any of the above embodiments, so as to achieve all the technical effects of the method for detecting an angular velocity and a position of a rotor, which will not be described herein again.
Computer readable storage media may include any medium that can store or transfer information. Examples of computer readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method of detecting angular velocity and position of a rotor, comprising:
randomly generating a group of current sine wave period, current initial phase angle and current voltage amplitude;
in one current sine wave period, injecting a sine voltage to a d axis of the motor according to a sine wave signal rule, and recording first q axis currents of at least two moments, wherein the initial phase angle of the sine voltage is the current initial phase angle, and the amplitude of the sine voltage is the current voltage amplitude;
acquiring at least two second q-axis currents in the last sine wave period;
calculating the rotor angular speed and the rotor position according to the at least two second q-axis currents;
and returning to the step of randomly generating a group of current sine wave periods and current voltage amplitudes when one current sine wave period is operated.
2. The method of claim 1, wherein the step of calculating the rotor angular velocity and the rotor position from the at least two second q-axis currents comprises:
obtaining a maximum second q-axis current and a minimum second q-axis current in the at least two second q-axis currents;
calculating a difference between the maximum second q-axis current and the minimum second q-axis current as a current error;
acquiring the angular speed of the rotor when the current error approaches zero;
and obtaining the rotor position by derivation of the rotor angular speed.
3. The method of claim 2, wherein the step of obtaining the rotor angular velocity at which the current error approaches zero comprises:
controlling a PI regulator to drive the current error to zero;
and acquiring the rotor angular speed output by the phase-locked loop when the current error tends to zero.
4. The method of claim 1, wherein said injecting a sinusoidal voltage to a d-axis of the motor according to a sine wave signal rule during one of said current sine wave cycles comprises:
starting a fixed frequency counter to count according to a counting period T from zero to obtain a counting value m;
when the count value m is smaller than a count threshold value, injecting the sinusoidal voltage into a d-axis of the motor, wherein the count threshold value is a ratio of the current sinusoidal wave period to the count period, and the sinusoidal voltage is equal to
Tn is the current sine wave period, and alpha n is the current starting phase angle.
5. The method of claim 4, wherein the operation of recording the first q-axis current for at least two time instants comprises:
the fixed frequency counter records the first q-axis current once every time it counts.
6. The method of claim 4, wherein the operation of obtaining at least two second q-axis currents in a last sine wave cycle comprises:
and when the count value is equal to a preset value, acquiring the at least two second q-axis currents in the last sine wave period.
7. The method of claim 6, wherein the predetermined value is 1.
8. The rotor angular velocity and rotor position detection method according to any one of claims 1 to 7,
prior to the randomly generating a set of a current sine wave period, a current starting phase angle, and a current voltage amplitude, further comprising:
prestoring at least two groups of state numbers, sine wave periods, initial phase angles and voltage amplitudes, wherein the product of the sine wave periods and the voltage amplitudes is a fixed value;
the randomly generating a set of a current sine wave period, a current starting phase angle, and a current voltage amplitude comprises:
generating a random state number;
and searching the state number equal to the random state number, and acquiring the sine wave period, the initial phase angle and the voltage amplitude corresponding to the state number as the current sine wave period, the current initial phase angle and the current voltage amplitude respectively.
9. A rotor angular velocity and rotor position detecting apparatus, comprising:
a memory configured to store executable instructions;
a processor configured to execute stored instructions to implement the steps of the method of any one of claims 1 to 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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